Systems and methods for maintaining an industrial lift truck within defined bounds

• US 9,002,557 B2
• Filed: 03/14/2013
• Issued: 04/07/2015
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: The Raymond Corporation (Toyota Motor Corporation)
• Original Assignee: The Raymond Corporation (Toyota Motor Corporation)
• Inventors: Goncalves, Fernando D., McCabe, Paul P.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): PAIGE, TYLER D
• Application Number:
  US13/828,334
• Publication Number:
  US 20140277871A1
• Time in Patent Office: 754 Days
• Field of Search: 701/22, 414/635
• US Class Current: 701/22
• CPC Class Codes: B66F 17/003 for fork-lift trucks
• CPC Class Codes: B66F 9/24 Electrical devices or systems

Abstract

Systems and methods maintain a lift truck within defined bounds. A controller analyzes actual and/or predicted lift truck behavior, and based on the analyzed lift truck behavior, the controller control at least one lift truck performance parameter. The performance parameter is controlled to maintain the lift truck center of gravity within a stability map, the stability map to define a three-dimensional range of center of gravity positions that maintains lift truck stability. The performance parameter is also controlled to maintain an intended path of the lift truck within an allowable deviation map, the allowable deviation map defining a two-dimensional envelope of allowable lift truck travel deviation from the intended path of the lift truck.

Claims

1. A system for maintaining a lift truck within defined bounds, the system comprising:

a sensor to sense a dynamic lift truck property and to provide a feedback signal corresponding to the sensed lift truck property;

a controller, the controller to receive the feedback signal and to analyze the feedback signal, and based on the analyzed feedback signal, the controller to control at least one lift truck performance parameter that maintains the lift truck within defined bounds, the defined bound including a three-dimensional parameter and a two-dimensional parameter,

wherein the defined bound comprises an allowable deviation map, the allowable deviation map defining an envelope of allowable travel deviation from an intended lift truck path, the allowable deviation map is definable by a user.

2. The system according to claim 1, wherein the defined bound comprises a stability map, the stability map to define a three-dimensional range of center of gravity positions to maintain lift truck stability.

3. The system according to claim 1, wherein the intended lift truck path is a travel path defined by a user steering the lift truck.

4. The system according to claim 1, wherein the controller restricts any changes imposed on the at least one lift truck performance parameter to limit the lift truck from deviating from the defined bounds.

5. The system according to claim 1, wherein the at least one lift truck performance parameter is at least one of a traction motor and a steer motor and a lift motor and an actuator.

6. A system for controlling a lift truck behavior, the system comprising:

a controller, the controller to analyze at least one of actual and predicted lift truck behavior, and based on the analyzed lift truck behavior, the controller to control at least one lift truck performance parameter;

the performance parameter controlled to maintain the lift truck center of gravity within a stability map, the stability map to define a three-dimensional range of center of gravity positions that maintain lift truck stability; and

the performance parameter controlled to maintain an intended path of the lift truck within an allowable deviation map, the allowable deviation map defining a two-dimensional envelope of allowable lift truck travel deviation from the intended path of the lift truck,

wherein the allowable deviation map or the stability map is definable by a user.

7. The system according to claim 6, wherein the controller includes a control algorithm, the control algorithm to analyze an analytical model of the lift truck to predict the lift truck behavior.

8. The system according to claim 6, wherein the controller includes a control algorithm, the control algorithm to analyze at least one sensor feedback, the sensor feedback to provide a measure in real-time of a current state of the lift truck.

9. The system according to claim 6, wherein the controller includes a control algorithm, the control algorithm to analyze an analytical model of the lift truck to predict the lift truck behavior, and the control algorithm to analyze at least one sensor feedback, the sensor feedback to provide a measure in real-time of a current state of the lift truck.

10. The system according to claim 6, further including a sensor to sense a dynamic lift truck property and to provide a feedback signal corresponding to the sensed dynamic lift truck property.

11. The system according to claim 6, wherein the allowable deviation map is definable by the user.

12. The system according to claim 6, wherein the allowable deviation map defines a plurality of regions, the regions defining a level of acceptable lift truck travel deviation.

13. The system according to claim 6, wherein the stability map is definable by the user.

14. The system according to claim 6, wherein the stability map defines a plurality of regions, the regions defining a level of acceptable center of gravity position.

15. A system for controlling a lift truck performance parameter, the system comprising:

an operator input device, the operator input device to provide a command to control at least one of steering and acceleration;

a controller, the controller to receive the command to control the at least one of steering and acceleration, and the controller to receive a signal of operating conditions, the controller to analyze the command and the signal, and based on the analyzed command and analyzed signal, the controller to control at least one lift truck performance parameter;

the performance parameter controlled to maintain the lift truck center of gravity within a stability map, the stability map to define a three-dimensional range of center of gravity positions that maintain lift truck stability; and

the performance parameter controlled to maintain an intended lift truck path within an allowable deviation map, the allowable deviation map defining an envelope of allowable travel deviation from the intended lift truck path,

wherein the allowable deviation map or the stability map is definable by a user.

16. The system according to claim 15, wherein the operating conditions include at least one of a height of a load, a load on a fork, and a weight of the lift truck.

17. The system according to claim 15, wherein the performance parameter is at least one of a travel speed, acceleration and deceleration rate, reach/retract speed, reach/retract acceleration and deceleration rate, and lift speed.

18. The system according to claim 15, wherein the intended lift truck path is a travel path defined by a user steering the lift truck.

19. The system according to claim 15, further including a control algorithm, the control algorithm to analyze at least one of actual and predicted lift truck behavior, and based on the analyzed lift truck behavior, the control algorithm to control the at least one lift truck performance parameter.

20. The system according to claim 15, further including a tractor unit;

a mast mounted relative to the tractor unit, the mast including a fixed base and a vertically extendable mast section; and

a vertically movable platform attached to the extendable mast section, the platform being vertically movable with the extendable mast section between an upper position and a lower position.